BR112017016074B1 - robô cobra subaquático, método para controle de um robô cobra subaquático, e produto de programa de computador - Google Patents

robô cobra subaquático, método para controle de um robô cobra subaquático, e produto de programa de computador Download PDF

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Publication number
BR112017016074B1
BR112017016074B1 BR112017016074-9A BR112017016074A BR112017016074B1 BR 112017016074 B1 BR112017016074 B1 BR 112017016074B1 BR 112017016074 A BR112017016074 A BR 112017016074A BR 112017016074 B1 BR112017016074 B1 BR 112017016074B1
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BR
Brazil
Prior art keywords
robot
thrust
tool
impulse
modules
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Application number
BR112017016074-9A
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English (en)
Portuguese (pt)
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BR112017016074A2 (pt
Inventor
Kristin Y. Pettersen
Pal Liljebãck
Asgeir J. Sorensen
Oyvind Stavdahl
Fredrik Lund
Aksel A. Transeth
Jan Tommy Gravdahl
Original Assignee
Eelume As
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Publication date
Application filed by Eelume As filed Critical Eelume As
Publication of BR112017016074A2 publication Critical patent/BR112017016074A2/pt
Publication of BR112017016074B1 publication Critical patent/BR112017016074B1/pt

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
    • E21B41/04—Manipulators for underwater operations, e.g. temporarily connected to well heads
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/44—End effector inspection
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y10S901/47—Optical

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Fluid Mechanics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
BR112017016074-9A 2015-01-29 2016-01-13 robô cobra subaquático, método para controle de um robô cobra subaquático, e produto de programa de computador BR112017016074B1 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GBGB1501479.8A GB201501479D0 (en) 2015-01-29 2015-01-29 Underwater manipulator arm robot
GB1501479.8 2015-01-29
PCT/EP2016/050569 WO2016120071A1 (en) 2015-01-29 2016-01-13 Underwater manipulator arm robot

Publications (2)

Publication Number Publication Date
BR112017016074A2 BR112017016074A2 (pt) 2018-04-03
BR112017016074B1 true BR112017016074B1 (pt) 2021-05-25

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
BR112017016074-9A BR112017016074B1 (pt) 2015-01-29 2016-01-13 robô cobra subaquático, método para controle de um robô cobra subaquático, e produto de programa de computador

Country Status (14)

Country Link
US (1) US10751872B2 (ko)
EP (1) EP3250345B1 (ko)
JP (1) JP6751399B2 (ko)
KR (1) KR102193354B1 (ko)
AU (1) AU2016212374B2 (ko)
BR (1) BR112017016074B1 (ko)
CA (1) CA2973295C (ko)
DK (1) DK3250345T3 (ko)
ES (1) ES2811977T3 (ko)
GB (1) GB201501479D0 (ko)
PL (1) PL3250345T3 (ko)
PT (1) PT3250345T (ko)
SG (1) SG11201705624XA (ko)
WO (1) WO2016120071A1 (ko)

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Also Published As

Publication number Publication date
KR20170129707A (ko) 2017-11-27
WO2016120071A1 (en) 2016-08-04
BR112017016074A2 (pt) 2018-04-03
CA2973295A1 (en) 2016-08-04
EP3250345A1 (en) 2017-12-06
ES2811977T3 (es) 2021-03-15
CA2973295C (en) 2022-08-09
JP2018505784A (ja) 2018-03-01
GB201501479D0 (en) 2015-03-18
EP3250345B1 (en) 2020-06-24
DK3250345T3 (da) 2020-08-17
AU2016212374B2 (en) 2020-06-18
US10751872B2 (en) 2020-08-25
SG11201705624XA (en) 2017-08-30
JP6751399B2 (ja) 2020-09-02
KR102193354B1 (ko) 2020-12-22
AU2016212374A1 (en) 2017-08-03
PT3250345T (pt) 2020-08-26
PL3250345T3 (pl) 2021-01-25
US20180021945A1 (en) 2018-01-25

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B09A Decision: intention to grant [chapter 9.1 patent gazette]
B09W Correction of the decision to grant [chapter 9.1.4 patent gazette]

Free format text: RETIFICACAO DO DEFERIMENTO NOTIFICADO NA RPI 2622 DE 06/04/2021.

B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

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